WO1999019121A1 - Accouplement interchangeable - Google Patents

Accouplement interchangeable Download PDF

Info

Publication number
WO1999019121A1
WO1999019121A1 PCT/EP1998/006201 EP9806201W WO9919121A1 WO 1999019121 A1 WO1999019121 A1 WO 1999019121A1 EP 9806201 W EP9806201 W EP 9806201W WO 9919121 A1 WO9919121 A1 WO 9919121A1
Authority
WO
WIPO (PCT)
Prior art keywords
piston
locking
coupling according
interchangeable coupling
interchangeable
Prior art date
Application number
PCT/EP1998/006201
Other languages
German (de)
English (en)
Inventor
Botho Kikut
Original Assignee
Kuka Schweissanlagen Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuka Schweissanlagen Gmbh filed Critical Kuka Schweissanlagen Gmbh
Priority to DE59801710T priority Critical patent/DE59801710D1/de
Priority to EP98961092A priority patent/EP1021280B1/fr
Priority to US09/529,434 priority patent/US6398279B1/en
Publication of WO1999019121A1 publication Critical patent/WO1999019121A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/0063—Connecting non-slidable parts of machine tools to each other
    • B23Q1/0081—Connecting non-slidable parts of machine tools to each other using an expanding clamping member insertable in a receiving hole
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S279/00—Chucks or sockets
    • Y10S279/904—Quick change socket
    • Y10S279/905—Quick change socket with ball detent
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T279/00—Chucks or sockets
    • Y10T279/17—Socket type
    • Y10T279/17666—Radially reciprocating jaws
    • Y10T279/17692—Moving-cam actuator
    • Y10T279/17743—Reciprocating cam sleeve
    • Y10T279/17752—Ball or roller jaws
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/59—Manually releaseable latch type
    • Y10T403/591—Manually releaseable latch type having operating mechanism
    • Y10T403/592—Ball detent

Definitions

  • the invention relates to an interchangeable coupling for releasably attaching tools to manipulators with the features in the preamble of the main claim.
  • Such a change coupling is known from DE-A-33 47 423. It consists of two coupling parts, one of which is assigned to the manipulator and the other to the tool. The coupling parts are attached to each other with a positive lock. This has several movable locking elements in the form of balls, which are actuated by a conical piston. The piston pushes the balls into a locked position between two corresponding receiving openings on the two coupling parts. In the retracted position, the piston allows the ball to retract into a cylindrical receiving opening, as a result of which the locking engagement is released and the two coupling parts can be removed from one another.
  • the other receiving opening in the coupling part on the tool side is designed as a pocket opening with a rounded or conical shape. This design of the receiving opening is unfavorable with regard to the safe guidance and power transmission of the locking balls.
  • the DD-A5-291 505 shows a similar interchangeable coupling with an external piston, which is designed as an actuating sleeve.
  • the receiving openings are designed analogously and have the same problems as in the aforementioned prior art. It is therefore an object of the present invention to show a better interchangeable coupling.
  • the invention solves this problem with the features in the main claim.
  • the formation of the one, preferably external receiving opening as an oblique ball channel has the advantage that in connection with the locking ball there is a better and more secure locking of the coupling parts.
  • the forces to be transferred between the coupling parts are optimally transmitted through the better defined installation of the locking elements. An undesirable play between the coupling parts is avoided.
  • tolerances and wear are automatically recorded, whereby a bevel on the piston skirt has a positive effect due to its clamping function.
  • a cylindrical ball channel also has the advantage that there are linear contact points which result in better guidance and distribution as well as transmission of the clamping forces. The loads and wear on the locking device are reduced.
  • the ball channel can be manufactured more easily and precisely than a bag opening. This not only improves the function, but also reduces the construction effort and the cost of the locking.
  • the distributed individual recesses on the jacket of the piston have the advantage that the locking element, in particular a ball, can cover larger distances between the locking and release positions. This enables a greater coverage or a deeper immersion of the ball in the two receiving openings in the locked position.
  • the positive locking and locking are better and can withstand greater loads.
  • the spaced arrangement of the recesses has advantages for the guidance accuracy of the piston. Closed lateral surfaces remain between the recesses, which offer an exact guide surface.
  • the recesses For centering and guiding the locking elements, in particular the balls, it is advantageous to design the recesses as a secant-shaped flattening on the cylinder jacket. As a result, the locking elements retain better guidance from the piston, and the tolerances for the rotational position of the piston can also be smaller.
  • bevels can be arranged which exert a clamping force on the locking elements in the direction of the receiving openings when the lock is closed.
  • FIG. 1 an interchangeable coupling in a partially sectioned illustration on a robot
  • FIG. 2 the interchangeable coupling in cross section and in the locked position
  • Figure 3 the variant of Figure 2 in
  • FIG. 4 a piston in different views
  • FIG. 5 a variant of the piston to FIG. 4 in different views
  • Figure 6 a broken cross section of the
  • FIG. 7 the arrangement of FIG. 6 in the open position
  • Figure 8 is an enlarged detail view of the ball on the ball channel in the locked position
  • Figures 9 and 10 sectional views of Figure 8 according to the section lines IX-IX and X-X.
  • Figure 1 shows a manipulator (3), which is preferably designed as a multi-axis industrial robot and on his hand (4) an interchangeable coupling (1) for releasable Attachment of a tool (2) (only indicated).
  • the interchangeable coupling (1) has two coupling parts (5, 6) to be connected to one another, of which the coupling part (5) is assigned to the tool (2) and the coupling part (6) to the robot (3).
  • a lock (7) is provided for the detachable connection of the coupling parts (5, 6).
  • the two coupling parts (5, 6) are supported on one another via preferably pin-shaped positioning contacts (35) in a defined position and at a certain distance and are held and tensioned in this position by the closed lock (7).
  • the positioning contacts (35) act as stops.
  • the lock (7) is shown in more detail in Figures 2 and 3, with Figure 2 showing the closed position and Figure 3 the release position.
  • the lock (7) has a movable piston (11) which is actuated by a pressure medium, preferably compressed air, and can move back and forth along its piston axis (26). Compressed air can preferably be applied to the piston (11) from both sides.
  • a pressure medium preferably compressed air
  • Compressed air can preferably be applied to the piston (11) from both sides.
  • the piston (11) is movably guided in a cylinder (15) transversely to the parting plane of the coupling parts (5, 6).
  • the cylinder (15) is formed on the robot side (3) by an annular chamber (16) on the coupling part (6).
  • On the opposite side of the tool (2) there is an essentially likewise annular insert (17) on the coupling part (6), which interacts with the annular chamber (16) and together with this the cylinder (15) as a closed movement space for the piston (11) forms.
  • the piston (11) preferably has a cylindrical shape and is guided with its outer jacket (12) in the cylinder (15), which is likewise circular in cross section. Can at the top and bottom of the piston
  • Ring seals (14) are present.
  • the piston can have cavities on the inside.
  • the lock (7) also has a plurality of movable locking elements (8), which are preferably designed as balls and are actuated by the piston (11).
  • the balls (8) are pushed back and forth between two receiving openings (9, 10), locking or opening depending on the degree of coverage.
  • the annular chamber (16) has a plurality of receiving openings (10) in the form of circular bores in the chamber wall, in which the balls (8) are guided in a transverse manner.
  • the receiving openings (10) and the balls (8) have essentially the same diameter.
  • the flange (29) of the tool-side coupling part (5) has corresponding receiving openings (9) which are aligned with the robot-side receiving openings (10) in the coupling position.
  • the piston (11) on its jacket (12) has a plurality of recesses (20) for the locking elements (8) which are spaced apart from one another in the U direction.
  • Recesses (20) are made at such a height that they are opposite the receiving openings (9, 10) in the release position and are distant from them in the locked position. As can be seen in detail from FIGS. 4 and 5, there are, for example, three balls (8) and three recesses (20) on the piston (11), which are arranged evenly distributed over the circumference. Between the recesses (20) the guide surfaces (13) mentioned at the beginning remain, on which the piston (11) is guided over its entire length without interruption (with the exception of the seals (14)) in the cylinder (15).
  • the recesses (20) can be designed differently. In the preferred embodiment, they are designed as secant-shaped flats (21). Due to their flat bottom they offer z. B. flattened flats (21) a flat contact surface for the kinematics of the balls during the movement between
  • the flats (21) can also be somewhat curved.
  • the recesses (20) have the shape of a trough-shaped groove with oblique guide surfaces (22) on the top and bottom, which steer the balls (8) towards the receiving openings (9, 10).
  • Figures 4 and 5 show different embodiments of the bevels (23).
  • the bevel (23) is also formed as a secant-shaped flattening (24) on the round jacket (12).
  • the bevel (23) has the shape of a vertical channel (25) running along the piston axis (26). Alternatively, it can also be a correspondingly inclined trough or spherical segment-shaped depression. This allows a certain centering function for the piston (11).
  • FIGs 2 and 3 illustrate the different positions of the lock (7).
  • the piston (11) has migrated upward to the robot-side coupling part (6).
  • its recesses (20) come to lie above the receiving openings (9, 10) in the coupling parts (5, 6).
  • the balls (8) With the underlying jacket area and in particular the bevels (23), the balls (8) are pressed in the locked position between the two receiving openings (9, 10) and held there.
  • the balls (8) are each approximately half in the one tool-side receiving opening (9) and the other robot-side receiving opening (10).
  • the coupling parts (5, 6) are mutually interlocked along the piston axis (26).
  • the piston axis (26) coincides with the hand axis of the robot (3).
  • Figures 6 to 10 show the design of the external receiving openings (9) in the flange (29).
  • this flange (29) belongs to the coupling part (5) on the tool side and engages around the outside of the annular chamber (16) with the piston (11).
  • the Coupling part assignment or the outer / inner position of the annular chamber (16) and flange (29) must be reversed.
  • Figure 6 shows the interchangeable coupling (1) in the locked position.
  • Figure 7 illustrates the open position.
  • the receiving opening (9) is designed here as an essentially cylindrical ball channel (30) which has an oblique channel axis (31).
  • the channel axis (31) is inclined obliquely outwards from the robot-side receiving opening (10) to the tool side (2).
  • Figures 6 and 7 illustrate this alignment.
  • the number of ball channels (30) corresponds to the number of locking elements (8), which are designed as balls here.
  • the ball channels (30) are designed as through holes and open at the front and rear. They have an elliptical shape at their mouth facing the piston (11) on the inside of the flange (29) due to the angle between the oblique channel axis (31) and the straight flange front.
  • the inclined channel axis (31) and the elliptical mouth shape also result in a recessed step (32) at the transition between the ball channel (30) and the robot-side receiving opening (10).
  • This step lies in the direction of the tool side (2) below the receiving opening (10).
  • the top wall of the receiving opening (10) and the top wall of the ball channel (30) abut each other approximately flush. This design allows the balls (8) to protrude only a small distance into the ball channel (30) in the blocking position. However, they cannot fall out of the ball channel (30).
  • the receiving opening (10) and the ball channel (30) have essentially the same diameter as the locking balls
  • FIGS. 9 and 10 show this constellation in sectional images along the sectional lines IX-IX and X-X of FIG. 8.
  • the ball channel (30) with its channel wall (34) pointing towards the robot side (3) presses on the locking ball (8) from above and presses it with an oblique force component against the opposite lower wall of the receiving opening (10) and against it Piston (11) or its bevel (23). There is a line contact at the contact points (33).
  • the locking elements (8) are held in the receiving opening (10) by a suitable fail-safe device (36).
  • a suitable fail-safe device This consists, for example, of one or more locking lugs on the opening edge adjacent to the receiving opening (9).
  • the inward curved locking lugs narrow the opening and hold the locking elements (8) back.
  • Figure 8 shows this training.
  • Centering pins (27) can be arranged on the coupling parts (5, 6) for searching and maintaining the correct rotational position when coupling.
  • the piston position and the preload of the springs (18) are set using adjusting screws (37) on the piston crown.
  • the coupling parts (5, 6) can have suitable stops, spacers, etc.
  • the shape of the recesses (20) and the bevels (23) is also variable. Instead of balls, other suitable blocking elements can also be used. Pistons and cylinders can also have a shape other than cylindrical. The number and arrangement of the locking elements (9) can also vary, and they also do not have to be at the same level.
  • Interchangeable coupling tool tool side manipulator, robot, robot side hand coupling part, tool coupling part, robot locking locking element, ball receiving opening (tool) receiving opening (robot) piston jacket guide surface seal cylinder ring chamber insert spring compressed air connection recess, groove flat, secant guide surface bevel flat, secant groove piston axis Centering pin rotary connection flange ball channel channel axis step contact point channel wall positioning contact Fall-out protection, locking lug adjusting screw

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Mechanical Coupling Of Light Guides (AREA)

Abstract

L'invention concerne un accouplement interchangeable (1) permettant une fixation amovible d'outils (2) sur des manipulateurs (3). Cet accouplement interchangeable (1) comprend deux parties (5, 6) avec un système de blocage (7) par liaison de forme. Ce système de blocage (7) comprend plusieurs billes de verrouillage (8) et un piston (11) prévu à des fins d'actionnement. Dans les parties d'accouplement (5, 6) il est également prévu des ouvertures de réception (9, 10) correspondantes. Ces ouvertures de réception (9) situées dans la partie d'accouplement (5) côté outil se présentent sous forme de canaux à billes (30) qui comportent un axe (31) oblique. Ces ouvertures de réception (9) reçoivent les billes de verrouillage (8) en position de verrouillage. L'axe des canaux (31) est incliné de préférence entre l'ouverture de réception (10) située côté robot et le côté outil (2).
PCT/EP1998/006201 1997-10-10 1998-09-30 Accouplement interchangeable WO1999019121A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE59801710T DE59801710D1 (de) 1997-10-10 1998-09-30 Wechselkupplung
EP98961092A EP1021280B1 (fr) 1997-10-10 1998-09-30 Accouplement interchangeable
US09/529,434 US6398279B1 (en) 1997-10-10 1998-09-30 Interchangeable coupling

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE29718726.0 1997-10-10
DE29718726U DE29718726U1 (de) 1997-10-10 1997-10-10 Wechselkupplung

Publications (1)

Publication Number Publication Date
WO1999019121A1 true WO1999019121A1 (fr) 1999-04-22

Family

ID=8047562

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1998/006201 WO1999019121A1 (fr) 1997-10-10 1998-09-30 Accouplement interchangeable

Country Status (5)

Country Link
US (1) US6398279B1 (fr)
EP (1) EP1021280B1 (fr)
DE (2) DE29718726U1 (fr)
ES (1) ES2162486T3 (fr)
WO (1) WO1999019121A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI382902B (zh) * 2007-03-13 2013-01-21 Star Seiki Kk 機器手臂聯結器裝置
DE202012100384U1 (de) 2012-02-06 2013-05-10 Kuka Systems Gmbh Kupplungseinrichtung
DE102016004087A1 (de) 2016-02-15 2017-08-17 Kastanienbaum GmbH Effektoreinheit für einen Roboter, Arbeitsvorrichtung mit einem Roboter und Verfahren zum Wechseln eines Effektors bei Robotern

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US20060181092A1 (en) * 2003-06-17 2006-08-17 Botho Kikut Manipulator-guided gripping device having a deflection safety device that can prevent collisions
EP1506833B1 (fr) * 2003-08-09 2010-01-20 Trumpf Werkzeugmaschinen GmbH + Co. KG Connection de buse laser
US7073423B2 (en) * 2003-09-17 2006-07-11 Robotic Production Technology, Inc. Compliance device for trimming a workpiece
SE527919C2 (sv) * 2004-04-02 2006-07-11 Truconex Engineering Ab Kopplingsanordning
ATE488335T1 (de) * 2004-05-18 2010-12-15 Bl Autotec Ltd Masterplatte und werkzeugplatte für roboterarmkoppelvorrichtung und roboterarmkoppelvorrichtung
US7779716B2 (en) * 2004-10-22 2010-08-24 Ati Industrial Automation, Inc. Quick disconnect tooling apparatus
ATE443593T1 (de) * 2004-10-30 2009-10-15 Trumpf Werkzeugmaschinen Gmbh Halterung für einen bearbeitungskopf an einer laserbearbeitungsmaschine mit mehreren mit einer einstellung der auslösenden kollisionskraft vorgesehenden kollisionsschutzelementen
US8005570B2 (en) * 2006-03-14 2011-08-23 Ati Industrial Automation Robotic tool changer
DE502007006046D1 (de) * 2006-08-16 2011-02-03 Abb Ag Schweissgerätwechselsystem für eine handhabungsvorrichtung
US8161650B2 (en) * 2007-10-02 2012-04-24 Android Industries Llc Workcell for tire and wheel assembly including a tire inflating sub-station that utilizes a flexible flip seal
US8769807B2 (en) 2007-10-02 2014-07-08 Android Industries Llc Apparatus for processing a tire-wheel assembly including weight application and balancing sub-stations
US8366592B2 (en) 2007-11-30 2013-02-05 Cinetic Automation Corp. Quick change spindle
US20100009825A1 (en) * 2008-07-10 2010-01-14 Ati Industrial Automation, Inc. Compliant Service Transfer Module for Robotic Tool Changer
US9724830B2 (en) * 2008-09-05 2017-08-08 Ati Industrial Automation, Inc. Manual robotic tool changer with rolling members
US20100268249A1 (en) * 2009-04-17 2010-10-21 Microdexterity Systems, Inc. Surgical system with medical manipulator and sterile barrier
US20100268250A1 (en) * 2009-04-17 2010-10-21 Microdexterity Systems, Inc. Surgical system with medical manipulator and sterile barrier
US9207657B2 (en) 2012-09-28 2015-12-08 Clover Technologies Group, Llc Manufacturing system with interchangeable tooling heads and tooling nests
US9151343B2 (en) 2013-03-14 2015-10-06 Ati Industrial Automation, Inc. Ball lock compensator for use with a robotic device
US8794418B1 (en) 2013-03-14 2014-08-05 Ati Industrial Automation, Inc. Ball lock compensator for use with a robotic tool
US9534356B2 (en) * 2013-05-31 2017-01-03 Caterpillar Inc. Retainer systems for ground engaging tools
US9981391B2 (en) 2015-02-16 2018-05-29 Norgren Automation Solutions, Llc Quick disconnect apparatus for modular tooling
MX2016011260A (es) 2015-02-16 2016-11-30 Norgren Automation Solutions Llc Aparato de desconexion rapida para herramientas modulares.
US10357324B2 (en) 2015-02-20 2019-07-23 Stryker Corporation Sterile barrier assembly, mounting system, and method for coupling surgical components
ITUB20155846A1 (it) 2015-11-24 2017-05-24 Gimatic S R L Dispositivo cambia utensile
USD898879S1 (en) 2017-05-01 2020-10-13 Norgren Automation Solutions, Llc Modular tooling coupler
US11872689B2 (en) 2018-03-19 2024-01-16 Divergent Technologies, Inc. End effector features for additively manufactured components
CN113316431B (zh) 2018-12-04 2024-09-20 马科外科公司 用于联接外科部件的具有无菌屏障组件的安装系统

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EP0092967A2 (fr) * 1982-04-27 1983-11-02 Fanuc Ltd. Dispositif de changement automatique du grappin pour les robots industriels
DE3347423A1 (de) * 1983-12-29 1985-07-11 Rudi 4018 Langenfeld Kirst Vorrichtung zum automatischen auswechseln und kuppeln von greifern an robotern oder handhabungsgeraeten
EP0282417A1 (fr) * 1987-03-11 1988-09-14 Renault Automation Dispositif de changement d'outil de robot
EP0548404A1 (fr) * 1990-06-28 1993-06-30 Bl Autotec, Ltd Dispositif d'accouplement pour bras de robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI382902B (zh) * 2007-03-13 2013-01-21 Star Seiki Kk 機器手臂聯結器裝置
DE202012100384U1 (de) 2012-02-06 2013-05-10 Kuka Systems Gmbh Kupplungseinrichtung
WO2013117535A1 (fr) 2012-02-06 2013-08-15 Kuka Systems Gmbh Dispositif d'accouplement
DE102016004087A1 (de) 2016-02-15 2017-08-17 Kastanienbaum GmbH Effektoreinheit für einen Roboter, Arbeitsvorrichtung mit einem Roboter und Verfahren zum Wechseln eines Effektors bei Robotern
WO2017140749A1 (fr) 2016-02-15 2017-08-24 Kastanienbaum GmbH Dispositif effecteur pour un robot, dispositif de travail pourvu d'un robot et procédé de changement d'effecteur dans des robots

Also Published As

Publication number Publication date
DE29718726U1 (de) 1999-02-18
EP1021280A1 (fr) 2000-07-26
EP1021280B1 (fr) 2001-10-10
DE59801710D1 (de) 2001-11-15
ES2162486T3 (es) 2001-12-16
US6398279B1 (en) 2002-06-04

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